by Dali Zhang, Shihao Feng, Tiancheng Ge, Zizhao Wang, Zeyu Zhang
Robotics Major Design Experience Project. I was the team leader of this project. We use one 6 DoF robot arm as the batter, which can hit back the ball pitched at it. The sensors in this system are two high speed cameras, and they are mounted on two turntables which makes sures the cameras are always facing the ball.
The 3D coordinates are calculated based on the orientation of the cameras and the pixel position of the ball in the image frame, and a Kalman filters is applied to filter out the noise in the trajectory.
Then the trajectory of the ball in the future is predicted based on past measures using least square fitting.
Based on the predicted end point, the trajectory planning algorithm can plan the trajectory for the robot arm. Finally an algorithm based on model preditive control makes sure the ball can be hit at the right time.
Reference:
[1] Y. Nakabo, I. Ishi, and M. Ishikawa, “3d tracking using two highspeed vision systems,”.